Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats

Qing Shi*, Shunsyuke Miyagishima, Shinichiro Konno, Shogo Fumino, Hiroyuki Ishii, Atsuo Takanishi, Cecilia Laschi, Barbara Mazzolai, Virgilio Mattoli, Paolo Dario

*この研究の対応する著者

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

This paper presents the design and development of a bio-inspired mobile robot called WR-3 (Waseda Rat No.3), as an experimental tool to study social interaction between rats and robots. According to the motion analysis of rats, their motion can be divided into two phases: moving and interaction. Therefore, a novel hybrid mechanism in which wheels are used for moving and legs are used for interaction has been designed to actuate the WR-3. Consequently, the robot can move at a high speed using its wheels and reproduce the rats' interaction using its legs and other parts. Based on the dimension and body structure of a mature rat, WR-3 has been designed with dimensions of 240×70×90[mm] and is the same shape as a rat. It consists of 18 DOFs in total: two 1-DOF wheels, four 3-DOF legs (including passive DOFs), a 2-DOF waist, and a 2-DOF neck. Preliminary interaction experiments with rats demonstrate that WR-3 is capable of reproducing interactions such as following, rearing, grooming, mounting, etc. similar to a real rat.

本文言語English
ホスト出版物のタイトル2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
ページ887-892
ページ数6
DOI
出版ステータスPublished - 2010
イベント2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
継続期間: 2010 9月 262010 9月 29

出版物シリーズ

名前2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Conference

Conference2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
国/地域Japan
CityTokyo
Period10/9/2610/9/29

ASJC Scopus subject areas

  • 人工知能
  • 生体医工学

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